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<div class="title">pyramidal_klt.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2014-, Open Perception, Inc.</span></div>
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<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_TRACKING_IMPL_PYRAMIDAL_KLT_HPP</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_TRACKING_IMPL_PYRAMIDAL_KLT_HPP</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2time_8h.html">pcl/common/time.h</a>&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/common/utils.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/tracking/boost.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/common/io.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/common/utils.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> IntensityT&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a90e1723b09ffd63f88972b892d7c509b">   49</a></span>&#160;<a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a90e1723b09ffd63f88972b892d7c509b">pcl::tracking::PyramidalKLTTracker&lt;PointInT, IntensityT&gt;::setTrackingWindowSize</a> (<span class="keywordtype">int</span> width, <span class="keywordtype">int</span> height)</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  track_width_ = width;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  track_height_ = height;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;}</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> IntensityT&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a29e239fcf58bc8ff7120aa3e47f01ef6">   57</a></span>&#160;<a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a825ff7281312ad78b2a94bab22046a3e">pcl::tracking::PyramidalKLTTracker&lt;PointInT, IntensityT&gt;::setPointsToTrack</a> (<span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointUV&gt;::ConstPtr&amp; keypoints)</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;{</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keywordflow">if</span> (keypoints-&gt;size () &lt;= keypoints_nbr_)</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    keypoints_ = keypoints;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  {</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    pcl::PointCloud&lt;pcl::PointUV&gt;::Ptr p (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointUV&gt;</a>);</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    p-&gt;reserve (keypoints_nbr_);</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keywordflow">for</span> (std::size_t i = 0; i &lt; keypoints_nbr_; ++i)</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      p-&gt;push_back (keypoints-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i]);</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    keypoints_ = p;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  }</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  keypoints_status_.reset (<span class="keyword">new</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a>);</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  keypoints_status_-&gt;indices.resize (keypoints_-&gt;size (), 0);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;}</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> IntensityT&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a825ff7281312ad78b2a94bab22046a3e">   76</a></span>&#160;<a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a825ff7281312ad78b2a94bab22046a3e">pcl::tracking::PyramidalKLTTracker&lt;PointInT, IntensityT&gt;::setPointsToTrack</a> (<span class="keyword">const</span> pcl::PointIndicesConstPtr&amp; points)</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;{</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  assert ((input_ || ref_) &amp;&amp; <span class="stringliteral">&quot;[pcl::tracking::PyramidalKLTTracker] CALL setInputCloud FIRST!&quot;</span>);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  pcl::PointCloud&lt;pcl::PointUV&gt;::Ptr keypoints (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointUV&gt;</a>);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  keypoints-&gt;reserve (keypoints_nbr_);</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keywordflow">for</span> (std::size_t i = 0; i &lt; keypoints_nbr_; ++i)</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  {</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <a class="code" href="structpcl_1_1_point_u_v.html">pcl::PointUV</a> uv;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    uv.u = points-&gt;indices[i] % input_-&gt;width;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    uv.v = points-&gt;indices[i] / input_-&gt;width;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    keypoints-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (uv);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  }</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  setPointsToTrack (keypoints);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;}</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> IntensityT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aaa669cfc2ebbb9778be5475d69c6efce">   94</a></span>&#160;<a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aaa669cfc2ebbb9778be5475d69c6efce">pcl::tracking::PyramidalKLTTracker&lt;PointInT, IntensityT&gt;::initCompute</a> ()</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;{</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="comment">// std::cout &lt;&lt; &quot;&gt;&gt;&gt; [PyramidalKLTTracker::initCompute]&quot; &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointInT&gt;::initCompute</a> ())</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  {</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::tracking::%s::initCompute] PCLBase::Init failed.\n&quot;</span>,</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;               tracker_name_.c_str ());</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  }</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keywordflow">if</span> (!input_-&gt;isOrganized ())</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  {</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::tracking::%s::initCompute] Need an organized point cloud to proceed!&quot;</span>,</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;               tracker_name_.c_str ());</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  }</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="keywordflow">if</span> (!keypoints_ || keypoints_-&gt;empty ())</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  {</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::tracking::%s::initCompute] No keypoints aborting!&quot;</span>,</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;               tracker_name_.c_str ());</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  }</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <span class="comment">// This is the first call</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <span class="keywordflow">if</span> (!ref_)</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  {</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    ref_ = input_;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="comment">// std::cout &lt;&lt; &quot;First run!!!&quot; &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="keywordflow">if</span> ((track_height_ * track_width_)%2 == 0)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      PCL_ERROR (<span class="stringliteral">&quot;[pcl::tracking::%s::initCompute] Tracking window (%dx%d) must be odd!\n&quot;</span>,</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;                 tracker_name_.c_str (), track_width_, track_height_);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="keywordflow">if</span> (track_height_ &lt; 3 || track_width_ &lt; 3)</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    {</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      PCL_ERROR (<span class="stringliteral">&quot;[pcl::tracking::%s::initCompute] Tracking window (%dx%d) must be &gt;= 3x3!\n&quot;</span>,</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;                 tracker_name_.c_str (), track_width_, track_height_);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    }</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    track_width_2_ = track_width_ / 2;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    track_height_2_ = track_height_ / 2;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    <span class="keywordflow">if</span> (nb_levels_ &lt; 2)</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    {</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      PCL_ERROR (<span class="stringliteral">&quot;[pcl::tracking::%s::initCompute] Number of pyramid levels should be at least 2!&quot;</span>,</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;                 tracker_name_.c_str ());</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    }</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="keywordflow">if</span> (nb_levels_ &gt; 5)</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    {</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      PCL_ERROR (<span class="stringliteral">&quot;[pcl::tracking::%s::initCompute] Number of pyramid levels should not exceed 5!&quot;</span>,</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;                 tracker_name_.c_str ());</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    computePyramids (ref_, ref_pyramid_, pcl::BORDER_REFLECT_101);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  }</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    initialized_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;}</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> IntensityT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a1291f82b866df89fd94b4e2bf5dbd386">  166</a></span>&#160;<a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a1291f82b866df89fd94b4e2bf5dbd386">pcl::tracking::PyramidalKLTTracker&lt;PointInT, IntensityT&gt;::derivatives</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">FloatImage</a>&amp; src, <a class="code" href="classpcl_1_1_point_cloud.html">FloatImage</a>&amp; grad_x, <a class="code" href="classpcl_1_1_point_cloud.html">FloatImage</a>&amp; grad_y)<span class="keyword"> const</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  <span class="comment">// std::cout &lt;&lt; &quot;&gt;&gt;&gt; derivatives&quot; &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;<span class="comment"></span>  <span class="comment">// Use Shcarr operator to compute derivatives.        //</span></div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  <span class="comment">// Vertical kernel +3 +10 +3 = [1 0 -1]T * [3 10 3]   //</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  <span class="comment">//                  0   0  0                          //</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  <span class="comment">//                 -3 -10 -3                          //</span></div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  <span class="comment">// Horizontal kernel  +3 0  -3 = [3 10 3]T * [1 0 -1] //</span></div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  <span class="comment">//                   +10 0 -10                        //</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  <span class="comment">//                    +3 0  -3                        //</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;<span class="comment"></span>  <span class="keywordflow">if</span> (grad_x.size () != src.size () || grad_x.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> != src.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> || grad_x.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> != src.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>)</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    grad_x = <a class="code" href="classpcl_1_1_point_cloud.html">FloatImage</a> (src.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>, src.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <span class="keywordflow">if</span> (grad_y.size () != src.size () || grad_y.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> != src.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> || grad_y.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> != src.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>)</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  grad_y = <a class="code" href="classpcl_1_1_point_cloud.html">FloatImage</a> (src.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>, src.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>);</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  <span class="keywordtype">int</span> height = src.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>, width = src.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  <span class="keywordtype">float</span> *row0 = <span class="keyword">new</span> <span class="keywordtype">float</span> [src.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + 2];</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  <span class="keywordtype">float</span> *row1 = <span class="keyword">new</span> <span class="keywordtype">float</span> [src.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + 2];</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  <span class="keywordtype">float</span> *trow0 = row0; ++trow0;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <span class="keywordtype">float</span> *trow1 = row1; ++trow1;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span>* src_ptr = &amp;(src.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0]);</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> y = 0; y &lt; height; y++)</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  {</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span>* srow0 = src_ptr + (y &gt; 0 ? y-1 : height &gt; 1 ? 1 : 0) * width;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span>* srow1 = src_ptr + y * width;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span>* srow2 = src_ptr + (y &lt; height-1 ? y+1 : height &gt; 1 ? height-2 : 0) * width;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    <span class="keywordtype">float</span>* grad_x_row = &amp;(grad_x.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[y * width]);</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <span class="keywordtype">float</span>* grad_y_row = &amp;(grad_y.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[y * width]);</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    <span class="comment">// do vertical convolution</span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x = 0; x &lt; width; x++)</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    {</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      trow0[x] = (srow0[x] + srow2[x])*3 + srow1[x]*10;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      trow1[x] = srow2[x] - srow0[x];</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    }</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <span class="comment">// make border</span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    <span class="keywordtype">int</span> x0 = width &gt; 1 ? 1 : 0, x1 = width &gt; 1 ? width-2 : 0;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    trow0[-1] = trow0[x0]; trow0[width] = trow0[x1];</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    trow1[-1] = trow1[x0]; trow1[width] = trow1[x1];</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    <span class="comment">// do horizontal convolution and store results</span></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x = 0; x &lt; width; x++)</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    {</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      grad_x_row[x] = trow0[x+1] - trow0[x-1];</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      grad_y_row[x] = (trow1[x+1] + trow1[x-1])*3 + trow1[x]*10;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    }</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  }</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;}</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> IntensityT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00221"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a99549bf819b6eae79b2c0fe98e524d1b">  221</a></span>&#160;<a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a99549bf819b6eae79b2c0fe98e524d1b">pcl::tracking::PyramidalKLTTracker&lt;PointInT, IntensityT&gt;::downsample</a> (<span class="keyword">const</span> FloatImageConstPtr&amp; input,</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;                                                               FloatImageConstPtr&amp; output)<span class="keyword"> const</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">FloatImage</a> smoothed (input-&gt;width, input-&gt;height);</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  convolve (input, smoothed);</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  <span class="keywordtype">int</span> width = (smoothed.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> +1) / 2;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  <span class="keywordtype">int</span> height = (smoothed.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> +1) / 2;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  std::vector&lt;int&gt; ii (width);</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; width; ++i)</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    ii[i] = 2 * i;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  FloatImagePtr down (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">FloatImage</a> (width, height));</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;<span class="preprocessor">#pragma omp parallel for shared (output) firstprivate (ii) num_threads (threads_)</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; height; ++j)</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  {</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    <span class="keywordtype">int</span> jj = 2*j;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; width; ++i)</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      (*down) (i,j) = smoothed (ii[i],jj);</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  }</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  output = down;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;}</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> IntensityT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00249"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a6d346b3cc0ce8d73d018b97080576e58">  249</a></span>&#160;<a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a99549bf819b6eae79b2c0fe98e524d1b">pcl::tracking::PyramidalKLTTracker&lt;PointInT, IntensityT&gt;::downsample</a> (<span class="keyword">const</span> FloatImageConstPtr&amp; input,</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;                                                                      FloatImageConstPtr&amp; output,</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;                                                                      FloatImageConstPtr&amp; output_grad_x,</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;                                                                      FloatImageConstPtr&amp; output_grad_y)<span class="keyword"> const</span></div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  downsample (input, output);</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  FloatImagePtr grad_x (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">FloatImage</a> (input-&gt;width, input-&gt;height));</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  FloatImagePtr grad_y (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">FloatImage</a> (input-&gt;width, input-&gt;height));</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  derivatives (*output, *grad_x, *grad_y);</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  output_grad_x = grad_x;</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  output_grad_y = grad_y;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;}</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160; </div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> IntensityT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00264"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#afd0d46566a85573a1d467f86a145dea8">  264</a></span>&#160;<a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#afd0d46566a85573a1d467f86a145dea8">pcl::tracking::PyramidalKLTTracker&lt;PointInT, IntensityT&gt;::convolve</a> (<span class="keyword">const</span> FloatImageConstPtr&amp; input, <a class="code" href="classpcl_1_1_point_cloud.html">FloatImage</a>&amp; output)<span class="keyword"> const</span></div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  FloatImagePtr tmp (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">FloatImage</a> (input-&gt;width, input-&gt;height));</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  convolveRows (input, *tmp);</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  convolveCols (tmp, output);</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;}</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> IntensityT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00273"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#ad8d75914e16311af2381c23b1d81e04f">  273</a></span>&#160;<a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#ad8d75914e16311af2381c23b1d81e04f">pcl::tracking::PyramidalKLTTracker&lt;PointInT, IntensityT&gt;::convolveRows</a> (<span class="keyword">const</span> FloatImageConstPtr&amp; input, <a class="code" href="classpcl_1_1_point_cloud.html">FloatImage</a>&amp; output)<span class="keyword"> const</span></div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  <span class="keywordtype">int</span> width = input-&gt;width;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  <span class="keywordtype">int</span> height = input-&gt;height;</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;  <span class="keywordtype">int</span> last = input-&gt;width - kernel_size_2_;</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  <span class="keywordtype">int</span> w = last - 1;</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;<span class="preprocessor">#pragma omp parallel for shared (output) num_threads (threads_)</span></div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; height; ++j)</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  {</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = kernel_size_2_; i &lt; last; ++i)</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    {</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      <span class="keywordtype">double</span> result = 0;</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> k = kernel_last_, l = i - kernel_size_2_; k &gt; -1; --k, ++l)</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;        result+= kernel_[k] * (*input) (l,j);</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160; </div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;      output (i,j) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (result);</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    }</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160; </div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = last; i &lt; width; ++i)</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;      output (i,j) = output (w, j);</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160; </div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; kernel_size_2_; ++i)</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      output (i,j) = output (kernel_size_2_, j);</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  }</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;}</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> IntensityT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00304"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#af00aa146a5122444e596060a26fc1bc6">  304</a></span>&#160;<a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#af00aa146a5122444e596060a26fc1bc6">pcl::tracking::PyramidalKLTTracker&lt;PointInT, IntensityT&gt;::convolveCols</a> (<span class="keyword">const</span> FloatImageConstPtr&amp; input, <a class="code" href="classpcl_1_1_point_cloud.html">FloatImage</a>&amp; output)<span class="keyword"> const</span></div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;  output = <a class="code" href="classpcl_1_1_point_cloud.html">FloatImage</a> (input-&gt;width, input-&gt;height);</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160; </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;  <span class="keywordtype">int</span> width = input-&gt;width;</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;  <span class="keywordtype">int</span> height = input-&gt;height;</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  <span class="keywordtype">int</span> last = input-&gt;height - kernel_size_2_;</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;  <span class="keywordtype">int</span> h = last -1;</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;<span class="preprocessor">#pragma omp parallel for shared (output) num_threads (threads_)</span></div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; width; ++i)</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;  {</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = kernel_size_2_; j &lt; last; ++j)</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    {</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;      <span class="keywordtype">double</span> result = 0;</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> k = kernel_last_, l = j - kernel_size_2_; k &gt; -1; --k, ++l)</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;        result += kernel_[k] * (*input) (i,l);</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;      output (i,j) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (result);</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    }</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160; </div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = last; j &lt; height; ++j)</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;      output (i,j) = output (i,h);</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160; </div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; kernel_size_2_; ++j)</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;      output (i,j) = output (i, kernel_size_2_);</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;  }</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;}</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160; </div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> IntensityT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00336"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a9168e3b0b3758e1d39fbce80f512e03c">  336</a></span>&#160;<a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a9168e3b0b3758e1d39fbce80f512e03c">pcl::tracking::PyramidalKLTTracker&lt;PointInT, IntensityT&gt;::computePyramids</a> (<span class="keyword">const</span> PointCloudInConstPtr&amp; input,</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;                                                                    std::vector&lt;FloatImageConstPtr&gt;&amp; pyramid,</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;                                                                    pcl::InterpolationType border_type)<span class="keyword"> const</span></div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;  <span class="keywordtype">int</span> step = 3;</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;  pyramid.resize (step * nb_levels_);</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160; </div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;  FloatImageConstPtr previous;</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;  FloatImagePtr tmp (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">FloatImage</a> (input-&gt;width, input-&gt;height));</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;<span class="preprocessor">#pragma omp parallel for num_threads (threads_)</span></div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; static_cast&lt;int&gt; (input-&gt;size ()); ++i)</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    tmp-&gt;points[i] = intensity_ (input-&gt;points[i]);</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;  previous = tmp;</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160; </div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;  FloatImagePtr img (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">FloatImage</a> (previous-&gt;width + 2*track_width_,</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;                                     previous-&gt;height + 2*track_height_));</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160; </div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (*tmp, *img, track_height_, track_height_, track_width_, track_width_,</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;                       border_type, 0.f);</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;  pyramid[0] = img;</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160; </div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;  <span class="comment">// compute first level gradients</span></div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;  FloatImagePtr g_x (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">FloatImage</a> (input-&gt;width, input-&gt;height));</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;  FloatImagePtr g_y (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">FloatImage</a> (input-&gt;width, input-&gt;height));</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;  derivatives (*img, *g_x, *g_y);</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;  <span class="comment">// copy to bigger clouds</span></div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;  FloatImagePtr grad_x (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">FloatImage</a> (previous-&gt;width + 2*track_width_,</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;                                        previous-&gt;height + 2*track_height_));</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;  <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (*g_x, *grad_x, track_height_, track_height_, track_width_, track_width_,</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;                       pcl::BORDER_CONSTANT, 0.f);</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;  pyramid[1] = grad_x;</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160; </div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;  FloatImagePtr grad_y (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">FloatImage</a> (previous-&gt;width + 2*track_width_,</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;                                        previous-&gt;height + 2*track_height_));</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;  <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (*g_y, *grad_y, track_height_, track_height_, track_width_, track_width_,</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;                       pcl::BORDER_CONSTANT, 0.f);</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;  pyramid[2] = grad_y;</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160; </div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> level = 1; level &lt; nb_levels_; ++level)</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;  {</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;    <span class="comment">// compute current level and current level gradients</span></div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;    FloatImageConstPtr current;</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;    FloatImageConstPtr g_x;</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;    FloatImageConstPtr g_y;</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;    downsample (previous, current, g_x, g_y);</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;    <span class="comment">// copy to bigger clouds</span></div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;    FloatImagePtr image (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">FloatImage</a> (current-&gt;width + 2*track_width_,</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;                                         current-&gt;height + 2*track_height_));</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;    <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (*current, *image, track_height_, track_height_, track_width_, track_width_,</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;                         border_type, 0.f);</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;    pyramid[level*step] = image;</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;    FloatImagePtr gradx (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">FloatImage</a> (g_x-&gt;width + 2*track_width_, g_x-&gt;height + 2*track_height_));</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;    <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (*g_x, *gradx, track_height_, track_height_, track_width_, track_width_,</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;                         pcl::BORDER_CONSTANT, 0.f);</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;    pyramid[level*step + 1] = gradx;</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;    FloatImagePtr grady (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">FloatImage</a> (g_y-&gt;width + 2*track_width_, g_y-&gt;height + 2*track_height_));</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;    <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (*g_y, *grady, track_height_, track_height_, track_width_, track_width_,</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;                         pcl::BORDER_CONSTANT, 0.f);</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;    pyramid[level*step + 2] = grady;</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;    <span class="comment">// set the new level</span></div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;    previous = current;</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;  }</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;}</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160; </div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> IntensityT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00404"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a9f85940b6be97925fc57ee052dd8e158">  404</a></span>&#160;<a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a9f85940b6be97925fc57ee052dd8e158">pcl::tracking::PyramidalKLTTracker&lt;PointInT, IntensityT&gt;::spatialGradient</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">FloatImage</a>&amp; img,</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;                                                                    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">FloatImage</a>&amp; grad_x,</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;                                                                    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">FloatImage</a>&amp; grad_y,</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;                                                                    <span class="keyword">const</span> Eigen::Array2i&amp; location,</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;                                                                    <span class="keyword">const</span> Eigen::Array4f&amp; weight,</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;                                                                    Eigen::ArrayXXf&amp; win,</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;                                                                    Eigen::ArrayXXf&amp; grad_x_win,</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;                                                                    Eigen::ArrayXXf&amp; grad_y_win,</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;                                                                    Eigen::Array3f &amp;covariance)<span class="keyword"> const</span></div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> step = img.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;  covariance.setZero ();</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160; </div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> y = 0; y &lt; track_height_; y++)</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;  {</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span>* img_ptr = &amp;(img.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0]) + (y + location[1])*step + location[0];</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span>* grad_x_ptr = &amp;(grad_x.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0]) + (y + location[1])*step + location[0];</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span>* grad_y_ptr = &amp;(grad_y.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0]) + (y + location[1])*step + location[0];</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160; </div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;    <span class="keywordtype">float</span>* win_ptr = win.data () + y*win.cols ();</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;    <span class="keywordtype">float</span>* grad_x_win_ptr = grad_x_win.data () + y*grad_x_win.cols ();</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;    <span class="keywordtype">float</span>* grad_y_win_ptr = grad_y_win.data () + y*grad_y_win.cols ();</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160; </div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x =0; x &lt; track_width_; ++x, ++grad_x_ptr, ++grad_y_ptr)</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;    {</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;      *win_ptr++  = img_ptr[x]*weight[0] + img_ptr[x+1]*weight[1] + img_ptr[x+step]*weight[2] + img_ptr[x+step+1]*weight[3];</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;      <span class="keywordtype">float</span> ixval = grad_x_ptr[0]*weight[0] + grad_x_ptr[1]*weight[1] + grad_x_ptr[step]*weight[2] + grad_x_ptr[step+1]*weight[3];</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;      <span class="keywordtype">float</span> iyval = grad_y_ptr[0]*weight[0] + grad_y_ptr[1]*weight[1] + grad_y_ptr[step]*weight[2] + grad_y_ptr[step+1]*weight[3];</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;      *grad_x_win_ptr++ = ixval;</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;      *grad_y_win_ptr++ = iyval;</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;      <span class="comment">//covariance components</span></div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;      covariance[0] += ixval*ixval;</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;      covariance[1] += ixval*iyval;</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;      covariance[2] += iyval*iyval;</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;    }</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;  }</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;}</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160; </div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> IntensityT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;<a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html">pcl::tracking::PyramidalKLTTracker&lt;PointInT, IntensityT&gt;::mismatchVector</a> (<span class="keyword">const</span> Eigen::ArrayXXf&amp; prev,</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;                                                                   <span class="keyword">const</span> Eigen::ArrayXXf&amp; prev_grad_x,</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;                                                                   <span class="keyword">const</span> Eigen::ArrayXXf&amp; prev_grad_y,</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;                                                                   <span class="keyword">const</span> FloatImage&amp; next,</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;                                                                   <span class="keyword">const</span> Eigen::Array2i&amp; location,</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;                                                                   <span class="keyword">const</span> Eigen::Array4f&amp; weight,</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;                                                                   Eigen::Array2f &amp;b)<span class="keyword"> const</span></div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> step = next.width;</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;  b.setZero ();</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> y = 0; y &lt; track_height_; y++)</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;  {</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span>* next_ptr = &amp;(next.points[0]) + (y + location[1])*step + location[0];</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span>* prev_ptr = prev.data () + y*prev.cols ();</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span>* prev_grad_x_ptr = prev_grad_x.data () + y*prev_grad_x.cols ();</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span>* prev_grad_y_ptr = prev_grad_y.data () + y*prev_grad_y.cols ();</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160; </div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x = 0; x &lt; track_width_; ++x, ++prev_grad_y_ptr, ++prev_grad_x_ptr)</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;    {</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;      <span class="keywordtype">float</span> diff = next_ptr[x]*weight[0] + next_ptr[x+1]*weight[1]</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;      + next_ptr[x+step]*weight[2] + next_ptr[x+step+1]*weight[3] - prev_ptr[x];</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;      b[0] += *prev_grad_x_ptr * diff;</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;      b[1] += *prev_grad_y_ptr * diff;</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;    }</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;  }</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;}</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160; </div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> IntensityT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;<a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html">pcl::tracking::PyramidalKLTTracker&lt;PointInT, IntensityT&gt;::track</a> (<span class="keyword">const</span> PointCloudInConstPtr&amp; prev_input,</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;                                                                 <span class="keyword">const</span> PointCloudInConstPtr&amp; input,</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;                                                                 <span class="keyword">const</span> std::vector&lt;FloatImageConstPtr&gt;&amp; prev_pyramid,</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;                                                                 <span class="keyword">const</span> std::vector&lt;FloatImageConstPtr&gt;&amp; pyramid,</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;                                                                 <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointUV&gt;::ConstPtr&amp; prev_keypoints,</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;                                                                 pcl::PointCloud&lt;pcl::PointUV&gt;::Ptr&amp; keypoints,</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;                                                                 std::vector&lt;int&gt;&amp; status,</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;                                                                 Eigen::Affine3f&amp; motion)<span class="keyword"> const</span></div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;  std::vector&lt;Eigen::Array2f, Eigen::aligned_allocator&lt;Eigen::Array2f&gt; &gt; next_pts (prev_keypoints-&gt;size ());</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;  Eigen::Array2f half_win ((track_width_-1)*0.5f, (track_height_-1)*0.5f);</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;  <a class="code" href="classpcl_1_1_transformation_from_correspondences.html">pcl::TransformationFromCorrespondences</a> transformation_computer;</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> nb_points = prev_keypoints-&gt;size ();</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> level = nb_levels_ - 1; level &gt;= 0; --level)</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;  {</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;    <span class="keyword">const</span> FloatImage&amp; prev = *(prev_pyramid[level*3]);</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;    <span class="keyword">const</span> FloatImage&amp; next = *(pyramid[level*3]);</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;    <span class="keyword">const</span> FloatImage&amp; grad_x = *(prev_pyramid[level*3+1]);</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;    <span class="keyword">const</span> FloatImage&amp; grad_y = *(prev_pyramid[level*3+2]);</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160; </div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;    Eigen::ArrayXXf prev_win (track_height_, track_width_);</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;    Eigen::ArrayXXf grad_x_win (track_height_, track_width_);</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;    Eigen::ArrayXXf grad_y_win (track_height_, track_width_);</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;    <span class="keywordtype">float</span> ratio (1./(1 &lt;&lt; level));</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> ptidx = 0; ptidx &lt; nb_points; ptidx++)</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;    {</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;      Eigen::Array2f prev_pt (prev_keypoints-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[ptidx].u * ratio,</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;                              prev_keypoints-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[ptidx].v * ratio);</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;      Eigen::Array2f next_pt;</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;      <span class="keywordflow">if</span> (level == nb_levels_ -1)</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;        next_pt = prev_pt;</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;        next_pt = next_pts[ptidx]*2.f;</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160; </div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;      next_pts[ptidx] = next_pt;</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160; </div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;      Eigen::Array2i iprev_point, inext_pt;</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;      prev_pt -= half_win;</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;      iprev_point[0] = floor (prev_pt[0]);</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;      iprev_point[1] = floor (prev_pt[1]);</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160; </div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;      <span class="keywordflow">if</span> (iprev_point[0] &lt; -track_width_ || iprev_point[0] &gt;= grad_x.width ||</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;          iprev_point[1] &lt; -track_height_ || iprev_point[1] &gt;= grad_y.height)</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;      {</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;        <span class="keywordflow">if</span> (level == 0)</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;          status [ptidx] = -1;</div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;      }</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160; </div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;      <span class="keywordtype">float</span> a = prev_pt[0] - iprev_point[0];</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;      <span class="keywordtype">float</span> b = prev_pt[1] - iprev_point[1];</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;      Eigen::Array4f weight;</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;      weight[0] = (1.f - a)*(1.f - b);</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;      weight[1] = a*(1.f - b);</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;      weight[2] = (1.f - a)*b;</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;      weight[3] = 1 - weight[0] - weight[1] - weight[2];</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160; </div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;      Eigen::Array3f covar = Eigen::Array3f::Zero ();</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;      spatialGradient (prev, grad_x, grad_y, iprev_point, weight, prev_win, grad_x_win, grad_y_win, covar);</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160; </div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;      <span class="keywordtype">float</span> det = covar[0]*covar[2] - covar[1]*covar[1];</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;      <span class="keywordtype">float</span> min_eigenvalue = (covar[2] + covar[0] - std::sqrt ((covar[0]-covar[2])*(covar[0]-covar[2]) + 4.f*covar[1]*covar[1]))/2.f;</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160; </div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;      <span class="keywordflow">if</span> (min_eigenvalue &lt; min_eigenvalue_threshold_ || det &lt; std::numeric_limits&lt;float&gt;::epsilon ())</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;      {</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;        status[ptidx] = -2;</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;      }</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160; </div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;      det = 1.f/det;</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;      next_pt -= half_win;</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160; </div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;      Eigen::Array2f prev_delta;</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; max_iterations_; j++)</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;      {</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;        inext_pt[0] = floor (next_pt[0]);</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;        inext_pt[1] = floor (next_pt[1]);</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160; </div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;        <span class="keywordflow">if</span> (inext_pt[0] &lt; -track_width_ || inext_pt[0] &gt;= next.width ||</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;            inext_pt[1] &lt; -track_height_ || inext_pt[1] &gt;= next.height)</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;        {</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;          <span class="keywordflow">if</span> (level == 0)</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;            status[ptidx] = -1;</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;        }</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160; </div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;        a = next_pt[0] - inext_pt[0];</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;        b = next_pt[1] - inext_pt[1];</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;        weight[0] = (1.f - a)*(1.f - b);</div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;        weight[1] = a*(1.f - b);</div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;        weight[2] = (1.f - a)*b;</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;        weight[3] = 1 - weight[0] - weight[1] - weight[2];</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;        <span class="comment">// compute mismatch vector</span></div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;        Eigen::Array2f beta = Eigen::Array2f::Zero ();</div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;        mismatchVector (prev_win, grad_x_win, grad_y_win, next, inext_pt, weight, beta);</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;        <span class="comment">// optical flow resolution</span></div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;        Eigen::Vector2f delta ((covar[1]*beta[1] - covar[2]*beta[0])*det, (covar[1]*beta[0] - covar[0]*beta[1])*det);</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;        <span class="comment">// update position</span></div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;        next_pt[0] += delta[0]; next_pt[1] += delta[1];</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;        next_pts[ptidx] = next_pt + half_win;</div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160; </div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;        <span class="keywordflow">if</span> (delta.squaredNorm () &lt;= epsilon_)</div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160; </div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;        <span class="keywordflow">if</span> (j &gt; 0 &amp;&amp; std::abs (delta[0] + prev_delta[0]) &lt; 0.01 &amp;&amp;</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;            std::abs (delta[1] + prev_delta[1]) &lt; 0.01 )</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;        {</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;          next_pts[ptidx][0] -= delta[0]*0.5f;</div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;          next_pts[ptidx][1] -= delta[1]*0.5f;</div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;        }</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;        <span class="comment">// update delta</span></div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;        prev_delta = delta;</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;      }</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160; </div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;      <span class="comment">// update tracked points</span></div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;      <span class="keywordflow">if</span> (level == 0 &amp;&amp; !status[ptidx])</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;      {</div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;        Eigen::Array2f next_point = next_pts[ptidx] - half_win;</div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;        Eigen::Array2i inext_point;</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160; </div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;        inext_point[0] = floor (next_point[0]);</div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;        inext_point[1] = floor (next_point[1]);</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160; </div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;        <span class="keywordflow">if</span> (inext_point[0] &lt; -track_width_ || inext_point[0] &gt;= next.width ||</div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;            inext_point[1] &lt; -track_height_ || inext_point[1] &gt;= next.height)</div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;        {</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;          status[ptidx] = -1;</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;        }</div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;        <span class="comment">// insert valid keypoint</span></div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;        <a class="code" href="structpcl_1_1_point_u_v.html">pcl::PointUV</a> n;</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;        n.u = next_pts[ptidx][0];</div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;        n.v = next_pts[ptidx][1];</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;        keypoints-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (n);</div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;        <span class="comment">// add points pair to compute transformation</span></div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;        inext_point[0] = floor (next_pts[ptidx][0]);</div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;        inext_point[1] = floor (next_pts[ptidx][1]);</div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;        iprev_point[0] = floor (prev_keypoints-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[ptidx].u);</div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;        iprev_point[1] = floor (prev_keypoints-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[ptidx].v);</div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;        <span class="keyword">const</span> PointInT&amp; prev_pt = prev_input-&gt;points[iprev_point[1]*prev_input-&gt;width + iprev_point[0]];</div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;        <span class="keyword">const</span> PointInT&amp; next_pt = input-&gt;points[inext_pt[1]*input-&gt;width + inext_pt[0]];</div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;        transformation_computer.<a class="code" href="classpcl_1_1_transformation_from_correspondences.html#a156ee80d46da72d70f4a1411e9dd06f6">add</a> (prev_pt.getVector3fMap (), next_pt.getVector3fMap (), 1.0);</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;      }</div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;    }</div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;  }</div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;  motion = transformation_computer.<a class="code" href="classpcl_1_1_transformation_from_correspondences.html#a0126a0d3c7fcf5f762bd76359fffc95f">getTransformation</a> ();</div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;}</div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160; </div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> IntensityT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00625"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a66cf5039c8b3b50823b4847e062ea317">  625</a></span>&#160;<a class="code" href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a66cf5039c8b3b50823b4847e062ea317">pcl::tracking::PyramidalKLTTracker&lt;PointInT, IntensityT&gt;::computeTracking</a> ()</div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;{</div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;  <span class="keywordflow">if</span> (!initialized_)</div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160; </div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;  std::vector&lt;FloatImageConstPtr&gt; pyramid;</div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;  computePyramids (input_, pyramid, pcl::BORDER_REFLECT_101);</div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;  pcl::PointCloud&lt;pcl::PointUV&gt;::Ptr keypoints (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointUV&gt;</a>);</div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;  keypoints-&gt;reserve (keypoints_-&gt;size ());</div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;  std::vector&lt;int&gt; status (keypoints_-&gt;size (), 0);</div>
<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;  track (ref_, input_, ref_pyramid_, pyramid, keypoints_, keypoints, status, motion_);</div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;  <span class="comment">//swap reference and input</span></div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;  ref_ = input_;</div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;  ref_pyramid_ = pyramid;</div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;  keypoints_ = keypoints;</div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;  keypoints_status_-&gt;indices = status;</div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;}</div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160; </div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; pcl::PointUV &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a0b4d7abee110e47d90635eb042488bb4"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">pcl::PointCloud::push_back</a></div><div class="ttdeci">void push_back(const PointT &amp;pt)</div><div class="ttdoc">Insert a new point in the cloud, at the end of the container.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:480</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1_transformation_from_correspondences_html"><div class="ttname"><a href="classpcl_1_1_transformation_from_correspondences.html">pcl::TransformationFromCorrespondences</a></div><div class="ttdoc">Calculates a transformation based on corresponding 3D points</div><div class="ttdef"><b>Definition:</b> transformation_from_correspondences.h:50</div></div>
<div class="ttc" id="aclasspcl_1_1_transformation_from_correspondences_html_a0126a0d3c7fcf5f762bd76359fffc95f"><div class="ttname"><a href="classpcl_1_1_transformation_from_correspondences.html#a0126a0d3c7fcf5f762bd76359fffc95f">pcl::TransformationFromCorrespondences::getTransformation</a></div><div class="ttdeci">Eigen::Affine3f getTransformation()</div><div class="ttdef"><b>Definition:</b> transformation_from_correspondences.hpp:72</div></div>
<div class="ttc" id="aclasspcl_1_1_transformation_from_correspondences_html_a156ee80d46da72d70f4a1411e9dd06f6"><div class="ttname"><a href="classpcl_1_1_transformation_from_correspondences.html#a156ee80d46da72d70f4a1411e9dd06f6">pcl::TransformationFromCorrespondences::add</a></div><div class="ttdeci">void add(const Eigen::Vector3f &amp;point, const Eigen::Vector3f &amp;corresponding_point, float weight=1.0)</div><div class="ttdef"><b>Definition:</b> transformation_from_correspondences.hpp:53</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html">pcl::tracking::PyramidalKLTTracker</a></div><div class="ttdef"><b>Definition:</b> pyramidal_klt.h:64</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a1291f82b866df89fd94b4e2bf5dbd386"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a1291f82b866df89fd94b4e2bf5dbd386">pcl::tracking::PyramidalKLTTracker::derivatives</a></div><div class="ttdeci">void derivatives(const FloatImage &amp;src, FloatImage &amp;grad_x, FloatImage &amp;grad_y) const</div><div class="ttdoc">compute Scharr derivatives of a source cloud.</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.hpp:166</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a66cf5039c8b3b50823b4847e062ea317"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a66cf5039c8b3b50823b4847e062ea317">pcl::tracking::PyramidalKLTTracker::computeTracking</a></div><div class="ttdeci">virtual void computeTracking()</div><div class="ttdoc">Abstract tracking method.</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.hpp:625</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a825ff7281312ad78b2a94bab22046a3e"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a825ff7281312ad78b2a94bab22046a3e">pcl::tracking::PyramidalKLTTracker::setPointsToTrack</a></div><div class="ttdeci">void setPointsToTrack(const pcl::PointIndicesConstPtr &amp;points)</div><div class="ttdoc">Provide a pointer to points to track.</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.hpp:76</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a90e1723b09ffd63f88972b892d7c509b"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a90e1723b09ffd63f88972b892d7c509b">pcl::tracking::PyramidalKLTTracker::setTrackingWindowSize</a></div><div class="ttdeci">void setTrackingWindowSize(int width, int height)</div><div class="ttdoc">set the tracking window size</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.hpp:49</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a9168e3b0b3758e1d39fbce80f512e03c"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a9168e3b0b3758e1d39fbce80f512e03c">pcl::tracking::PyramidalKLTTracker::computePyramids</a></div><div class="ttdeci">virtual void computePyramids(const PointCloudInConstPtr &amp;input, std::vector&lt; FloatImageConstPtr &gt; &amp;pyramid, pcl::InterpolationType border_type) const</div><div class="ttdoc">Compute the pyramidal representation of an image.</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.hpp:336</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a99549bf819b6eae79b2c0fe98e524d1b"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a99549bf819b6eae79b2c0fe98e524d1b">pcl::tracking::PyramidalKLTTracker::downsample</a></div><div class="ttdeci">void downsample(const FloatImageConstPtr &amp;input, FloatImageConstPtr &amp;output) const</div><div class="ttdoc">downsample input</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.hpp:221</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_a9f85940b6be97925fc57ee052dd8e158"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#a9f85940b6be97925fc57ee052dd8e158">pcl::tracking::PyramidalKLTTracker::spatialGradient</a></div><div class="ttdeci">virtual void spatialGradient(const FloatImage &amp;img, const FloatImage &amp;grad_x, const FloatImage &amp;grad_y, const Eigen::Array2i &amp;location, const Eigen::Array4f &amp;weights, Eigen::ArrayXXf &amp;win, Eigen::ArrayXXf &amp;grad_x_win, Eigen::ArrayXXf &amp;grad_y_win, Eigen::Array3f &amp;covariance) const</div><div class="ttdoc">extract the patch from the previous image, previous image gradients surrounding pixel alocation while...</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.hpp:404</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_aaa669cfc2ebbb9778be5475d69c6efce"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#aaa669cfc2ebbb9778be5475d69c6efce">pcl::tracking::PyramidalKLTTracker::initCompute</a></div><div class="ttdeci">virtual bool initCompute()</div><div class="ttdoc">This method should get called before starting the actual computation.</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.hpp:94</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_ad8d75914e16311af2381c23b1d81e04f"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#ad8d75914e16311af2381c23b1d81e04f">pcl::tracking::PyramidalKLTTracker::convolveRows</a></div><div class="ttdeci">void convolveRows(const FloatImageConstPtr &amp;input, FloatImage &amp;output) const</div><div class="ttdoc">Convolve image rows.</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.hpp:273</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_af00aa146a5122444e596060a26fc1bc6"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#af00aa146a5122444e596060a26fc1bc6">pcl::tracking::PyramidalKLTTracker::convolveCols</a></div><div class="ttdeci">void convolveCols(const FloatImageConstPtr &amp;input, FloatImage &amp;output) const</div><div class="ttdoc">Convolve image columns.</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.hpp:304</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_pyramidal_k_l_t_tracker_html_afd0d46566a85573a1d467f86a145dea8"><div class="ttname"><a href="classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html#afd0d46566a85573a1d467f86a145dea8">pcl::tracking::PyramidalKLTTracker::convolve</a></div><div class="ttdeci">void convolve(const FloatImageConstPtr &amp;input, FloatImage &amp;output) const</div><div class="ttdoc">Separately convolve image with decomposable convolution kernel.</div><div class="ttdef"><b>Definition:</b> pyramidal_klt.hpp:264</div></div>
<div class="ttc" id="acommon_2time_8h_html"><div class="ttname"><a href="common_2time_8h.html">time.h</a></div></div>
<div class="ttc" id="agroup__common_html_gaa65b1c8d782e7b776ae682679d2d948f"><div class="ttname"><a href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a></div><div class="ttdeci">PCL_EXPORTS void copyPointCloud(const pcl::PCLPointCloud2 &amp;cloud_in, const std::vector&lt; int &gt; &amp;indices, pcl::PCLPointCloud2 &amp;cloud_out)</div><div class="ttdoc">Extract the indices of a given point cloud as a new point cloud</div></div>
<div class="ttc" id="astructpcl_1_1_point_indices_html"><div class="ttname"><a href="structpcl_1_1_point_indices.html">pcl::PointIndices</a></div><div class="ttdef"><b>Definition:</b> PointIndices.h:13</div></div>
<div class="ttc" id="astructpcl_1_1_point_u_v_html"><div class="ttname"><a href="structpcl_1_1_point_u_v.html">pcl::PointUV</a></div><div class="ttdoc">A 2D point structure representing pixel image coordinates.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:733</div></div>
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